CN115666881A

CN115666881A - Clamping tool, system, clamping tool, exchange platform and method for transporting objects using such a system or clamping tool

Info

Publication number: CN115666881A
Application number: CN202180036231.6A
Authority: CN
Inventors: 延斯·奋博
Original assignee: Fenbo Technology Co ltd
Current assignee: Fenbo Technology Co ltd
Priority date: 2020-03-20
Filing date: 2021-03-22
Publication date: 2023-01-31
Also published as: KR20220164735A; EP4121258A4; EP4121258A1; JP2023517392A; US20230142668A1; WO2021185420A8; WO2021185420A1

Abstract

The present invention relates to a gripping tool, a system, a gripping tool and a method of handling objects, wherein the gripping tool comprises a transmission mechanism arranged in a housing, wherein the transmission mechanism is coupled to a plurality of arms located outside the housing. One or more gripping elements are provided on each arm. The clamping element is releasably connected to the arm to enable quick and easy repositioning and/or replacement of the clamping element. A replacement platform may be used to reposition or replace the clamping element.

Description

Clamping tool, system, clamping tool, exchange platform and method for transporting objects using such a system or clamping tool

Technical Field

The present invention relates to a gripping tool, preferably a gripper with a plurality of gripping elements, configured to be coupled to a robot arm or arranged on a surface, wherein the gripping tool comprises a plurality of arms rotatably connected to a housing of the gripping tool, each arm having at least one gripping point for gripping an object.

Background

It is known to use gripping tools mounted on the robot arm of a robot to carry objects during assembly, processing, sorting and packaging. The gripping tool is equipped with two or more gripping arms, each designed to grip a specific object at a gripping point. The gripper arm is configured to move between different positions in a gripping process, wherein the operation of the gripping tool is controlled by a local controller of the robot cell. Alternatively, the local controller may receive commands from the central controller.

Robotic arms are known, including their respective interfaces, equipped with one or more joints, each joint providing at least one degree of freedom (DOF) to the robotic arm. Robotic arms typically have five to seven degrees of freedom, but some have only two or three degrees of freedom. The design of the gripping tool and the robot unit is selected on the basis of the size, shape and weight of the object to be handled by the robot unit.

It is known to use sensors and/or cameras to monitor the axial movement of the robotic arm and thus the gripping tool. The local controller then uses the signals of these sensors or cameras to properly position the gripper arms relative to the particular object. The local controller may selectively use a two-dimensional or three-dimensional map of the object to position the gripping tool.

US 2013/0341944 A1 of robert bosch limited discloses a gripping device for a handling robot with a protection device, wherein the gripping device comprises three arms, which are each connected to a common transmission mechanism arranged in a housing of the gripping device. Each arm has an elongated body extending along a radial plane, one end of which is connected to the spindle of the transmission mechanism by a clamping device and the other end of which is connected to a gripping finger. The gripping fingers are connected to the arm by snap-in connectors designed to provide safety overload protection. The arms have open notches in the side surfaces for receiving fingers that are held in place by snap-in connectors.

In order to grip very large objects, the bar arm must be manually exchanged for a longer arm. A sensor must be provided in the arm to detect an overload condition on the finger, which the controller uses to trigger an emergency stop of the gripping means to prevent the finger from being forced out of engagement with the arm.

EP 2390068 B1 of the german male limited discloses a clamping device with three arms, which are connected to a pneumatically operated transmission, wherein each arm has an L-shaped body, wherein the bend between the limbs faces outwards from the central longitudinal axis. One limb segment of the arm is connected to the rotating shaft of the transmission mechanism, and the other limb segment of the arm is arranged at the free end and connected to the clamping finger. The gripping fingers are arranged on the side of the arm that is turned to make contact with the object. The arm is fixed relative to the pivot by a locking pin disposed in recesses in the pivot and the arm. It is claimed that the gripping device can grip round objects with an outer diameter of between 0 and 100mm and ring objects with an inner diameter of between 10 and 125 mm.

However, EP 2390068 B1 does not disclose how the gripping fingers are held in place in the respective arms, nor does it suggest or suggest that the gripping fingers can be replaced. The illustrated construction indicates that the gripping fingers are firmly attached to the arm or form an integral part of the arm.

Another example of a clamping device is model 3FG15 by OnRobot corporation, which comprises three arms, each connected to a common transmission in the housing. Each arm has a generally L-shaped body extending along a longitudinal plane with one end mounting a small disc connected to the drive shaft. The grip range of the gripping device is between 20-160mm, however a tool must be used to manually move the arm relative to the puck to manipulate the gripping fingers throughout the grip range. In addition, the clamping fingers are held in place by screws, thus requiring tools to replace the clamping fingers.

CN 103963067A, US 4598942A and US4765669A disclose clamping devices with similar arms extending along a longitudinal plane. In the above clamping device, the clamping process is completed in a radial plane. US4765669A also discloses that each finger is slidably disposed in a recess in the front plate, with a container attached to the top of the finger, with a ball disposed in the container for mating with a matching recess in the inner disc above the finger.

EP0074542A1 discloses a holding tool with three rotatable arms. Each arm is coupled to a shaft of the rotary mechanism. Attached to the centre of the gripping tool is a stop element having three radial fingers, wherein each gripping finger abuts an inner curved portion of the radial finger. The arm of EP0074542A1 has a single recess for accommodating the clamping finger, wherein the clamping finger is locked in the recess using a small screw on the arm.

DE3312673A1 discloses a gripping tool comprising a drive mechanism arranged in a housing, wherein the drive mechanism is connected to three arms equipped with gripping fingers. The arms are clamped on respective rotating shafts, and clamping finger threads are screwed into the other ends of the respective arms. Thus, a tool is required when changing the gripping fingers.

Accordingly, there is a need for a gripping or clamping tool with improved flexibility, operating range and lifting capability.

Object of the Invention

The present invention aims to provide a clamping tool that can solve the above problems.

It is another object of the present invention to provide a clamping tool that is capable of operating throughout a clamping range.

It is a further object of the present invention to provide a gripping tool that allows for adjustment of the position of the gripping fingers without the use of tools.

It is another object of the present invention to provide a clamping tool that allows easy replacement of the clamping fingers.

Disclosure of Invention

The object of the present invention is achieved by a gripping tool for conveying an object in a process, comprising:

-a housing defining a longitudinal axis of the gripping tool,

-a drive mechanism arranged within the housing,

an interface arranged at one end of the housing, the interface being configured to be coupled to a matching interface of a machine or arranged on a surface,

-a plurality of arms disposed at the other end of the housing, each arm comprising at least one gripping element configured to contact an object, each arm configured to rotate about an axis of rotation and to contact or disengage from contact with the object in a radial plane perpendicular to the longitudinal axis when activated by the drive mechanism, wherein each arm comprises a body extending from a first end to a second end, and each arm has a top side, a bottom side, a first side and a second side,

-wherein each arm comprises a mounting location for at least one clamping element provided at the top side, characterized in that at least one clamping element is releasably connected to the arm by means of a quick-release connector.

The term "releasably connected" is to be understood here as meaning that the clamping element and the arm are specially designed to be detachable in order to replace or reposition the clamping element. The term "quick release" is to be understood here as a connector which can be operated without the use of tools, such as screwdrivers or wrenches.

This provides an alternative gripping tool design for robotic or gripper applications, which provides greater flexibility than conventional gripping tools of the same type. The gripping tool of the present invention is compact in design and light in weight, providing better lifting capabilities.

The clamping tool has a protective housing extending in a longitudinal direction from a first end to a second end. The housing further extends in a radial direction and forms an outer surface and an inner surface, wherein the inner surface, the first end, and the second end collectively form an interior chamber. The housing may be made of any suitable material, preferred materials being lightweight materials such as plastics materials, preferred materials being fibre reinforced materials or metals such as aluminium or stainless steel. In this way, the drive mechanism, electrical components and other sensitive components are protected from dust, moisture, noxious gases and other particles in the environment in which the gripping tool is placed.

The first end may be adapted to form an interface for mounting the gripping tool to a machine or adaptor element, as described hereinafter. The interface may also include other connection elements for providing pressurized air or oil, power and/or control signals to the gripping tool. This saves weight and cost, since the gripping tool can be driven by an external energy source. This also allows for a simple and quick mounting of the clamping tool. Alternatively, the gripping means may comprise an internal energy source, such as a battery, photovoltaic cell or a combination thereof.

The second end may include an end plate for closing the interior chamber. The shaft may extend through the end plate to couple the arm to the drive mechanism. The openings in the end plates may be further sealed to prevent dust, moisture, harmful gases and other particles from entering the interior chamber. Alternatively, the arm may be connected to a pin protruding from the end plate, and an actuator may be coupled to the arm to activate the arm. The arm may be rotated about the protruding pin using a linear actuator, a hydraulic actuator, a pneumatic actuator, or an electromechanical actuator. This only allows the cable or fluid hose to extend through the end plate and thus may better seal the end plate.

Each arm has a body extending from a first end to a second end in a radial plane. The first end is configured to be connected to a rotating shaft or protruding pin to enable the arm to rotate in a radial plane. The second end forms the free end of the arm. The body also has a top side, a bottom side, a first side, and a second side. When in the retracted position, the second end is at a minimum radial distance from the central longitudinal axis of the housing, whereby the gripping tool is also at a minimum radial distance from the central longitudinal axis of the housing. When in the extended position, the second end is at a maximum radial distance from the central longitudinal axis.

Each arm may be arranged relative to the end plate and rotatable about an axis of rotation defined by its spindle or projecting pin. At least two arms, preferably three arms, are coupled to the drive mechanism or to a separate actuator. The local axis of rotation of each arm may be located at a radial distance from the longitudinal axis, preferably at equal radial distances. The radial plane may be located at a longitudinal distance from the interface of the machine. Due to the compact and light design, this longitudinal distance is reduced to a minimum, allowing a higher lifting capacity.

The clamping element may have a recess provided on the outer surface adapted to cooperate with at least one protruding flange on the replacement platform. The recess may be at the top end of the clamping element. At least one flange may be provided in a recess of the replacement platform, which may be adapted to receive a top end of the clamping element. This allows the clamping element to be in the replacement platform when not in use or during repositioning.

When the gripping fingers move into the notches, the activation elements on the gripping fingers may cooperate. Thereby automatically unlocking the connector. The gripping fingers can be moved, e.g., slid, along the notches until the flanges mate with the notches on the gripping fingers. Thereby enabling the clamping finger to remain in its unlocked state. The arm can thus be removed from the gripper finger or vice versa, enabling the gripper finger to be repositioned or replaced.

The size and shape of the recess may be adapted to the specific design of the gripping finger. Alternatively, the recess may be adapted to accommodate differently shaped gripping fingers.

According to one embodiment, one of the first and second coupling members is a hole and the other of the first and second coupling members is a pin protruding from a surface of the arm or the clamping element.

The structure of the releasable connection may be adapted to the shape and size of the arms and/or the clamping element. Alternatively, the structure of the releasable connection may be standardized to accommodate different designs of arms and/or clamping elements.

In one example, the mounting points may be formed by a plurality of individual holes provided in the top surface of the arm. Alternatively, the mounting point may be formed by an elongated hole, wherein the clamping element may be placed at any position along a partial length of the elongated hole. The hole or elongated hole may be a cavity (non-through hole) or a through hole. The elongated aperture may include a box joint (box joint) including a plurality of slots, each slot defining a selectable position of the clamping element. An optional flange may be provided within the bore and may protrude from an inner surface of the bore. Thereby, the hole or the inner flange may serve as the first coupling member.

The clamping element may comprise a pin protruding from a bottom surface of the clamping element. The pin may be configured to be inserted into the aforementioned hole in the arm. The pin may form an internal cavity and the releasable element may be disposed in the internal cavity. The locking element may be provided on a partial outer surface of the pin and interact with the releasable element. The pin may have a local height that is less than a local depth of the hole such that the locking element is concealed within the hole. The local height of the pin may also be greater than the local depth of the hole so that the locking element may contact the bottom surface of the arm. Thereby, the pin may serve as the second coupling member.

In another example, the mounting point may be formed by a plurality of separate pins provided on the top surface of the arm, for example by clamping pins. The pin may be integrally formed with the arm or may be attached to the arm. The pin may have a partial recess provided in a partial outer surface to partially receive a locking element on the clamping element. Thereby, the pin may serve as the first coupling member.

The clamping element may comprise a cavity provided in the bottom surface, the cavity being configured to receive the above-mentioned pin on the arm. Thereby, the cavity may serve as a second coupling member. The clamping element may form an internal chamber in which the releasable element is disposed. Alternatively, the releasable element may be a moveable sleeve provided on an outer surface of the clamping element. The locking element may be provided on or in an inner surface of the cavity and interact with the releasable element.

However, other configurations of quick release connections may be used.

According to one embodiment, at least the first grip element is formed as an elongated grip element or finger extending along at least a part of the length of the arm.

Preferably, the gripping element may be formed as a gripping finger having a predetermined cross-section and a predetermined contour along its longitudinal axis. The gripping fingers may have any suitable cross-sectional profile and/or longitudinal profile. In examples, the gripping fingers may have a circular, oval, polygonal, triangular, rectangular, or other suitable cross-section. The clamping element may have a constant profile along its longitudinal axis, or the profile may vary along the longitudinal axis. This allows the gripping fingers to have bodies suitable for making contact with one or more intended object types.

The clamping element may be formed as an elongated clamping element having a predetermined profile. The elongated clamping element may extend in the longitudinal direction from a partial first end to a partial second end and also in the height direction from the bottom side to the top side. The elongate clamping element may have a stepped profile which progressively decreases from the first end to the second end, or vice versa.

The arms and/or the clamping elements may be made of any suitable material, preferably a lightweight material, such as a plastic material, preferably a fibre reinforced material or a metal, such as aluminium or stainless steel. However, other materials may be used. Further, the clamping element may be covered with a soft material, a material with a higher coefficient of friction than the rest of the clamping element or a material with a rough surface or surface microstructure. Alternatively, the clamping element may be made of a soft material, a material with a high coefficient of friction or a material with a rough surface or surface microstructure. These materials are well known to those skilled in the art and will not be described in further detail.

The number of gripping elements on each arm may be selected according to the particular application and size of the object. In an example, a single gripping element or a plurality of gripping elements may be provided on the arm. The clamping elements may extend perpendicularly with respect to the radial plane or be placed at an angle to the radial plane.

The local position of the gripping elements on the arms can be adapted to the specific application and the size of the object. Alternatively, the free end of the arm, e.g. the second end, may also be used as a clamping element. This allows the gripping tool to grip objects of different sizes and shapes.

The first clamping member may be arranged at an outermost position on the arm, such as the second end. This allows the gripping tool to grip large objects. Alternatively or additionally, one or more second clamping elements may be provided at one or more intermediate or innermost positions on the arm. This allows the gripping tool to grip small or medium sized objects.

According to one embodiment, the at least first gripping element is configured to operate over the entire gripping range of the gripping tool while maintaining each arm in the same radial position with respect to the respective axis of rotation.

Unlike conventional gripping tools, the gripping tool of the present invention can operate over the entire gripping range of the gripping tool without the need to adjust the radial position of the arm.

This may be achieved by providing more than one gripping element on each arm, wherein the innermost gripping element may be rotated to a minimum gripping position and the outermost gripping element may be rotated to a maximum gripping position. The minimum clamping position and the maximum clamping position together define a maximum clamping range or an entire clamping range of the clamping tool.

If the arm is fitted with a single gripping element, the retracted and extended positions of the arm together define a local gripping range of the gripping tool. By simply repositioning the clamping element, the clamping tool can be operated throughout the clamping range.

The object of the invention is also achieved by a system configured to carry objects in a process, the system comprising:

a machine configured to process an object,

the machine comprises at least one interface configured to be coupled to at least one gripping tool as described above,

the machine further comprises an energy source for providing power to the gripping tool, and a controller configured to control at least the operation of the gripping tool.

This provides a system with better clamping flexibility and stronger lifting capacity. The gripping tool of the present invention is capable of gripping objects of different sizes and shapes by simply replacing or repositioning the gripping elements without the use of tools.

The first end of the clamping tool may be mounted to the machine without the use of tools, such as a screw connection or releasable connection. Alternatively, fasteners may be used to mount the clamping tool to the machine. The gripping tool can thereby be driven by a power source located within the machine. This also enables a simple and quick mounting of the clamping tool.

The machine includes a mating interface configured to couple to an interface of the gripping tool. The interface may also include electrical and/or tubing connection elements to connect the drive mechanism of the gripping tool to an energy source in the machine. The energy source may be configured to provide pneumatic, hydraulic or electric power to the gripping tool. This allows the gripping tool to be powered by the machine.

The machine also includes a controller configured to control at least operation of the gripping tool. The machine may be equipped with suitable devices to manipulate, process and/or treat the object. The operation of these devices may also be controlled by a controller. The gripping tool may load the object into the machine, secure the object during processing, and/or unload the processed object from the machine. The machine may be any machine that uses a holding tool in which an object is to be processed or part of an object forming process.

Optionally, the controller may be electrically connected to one or more sensors in the gripping tool through the interface. The controller may use the sensor signals to control axial movement of the gripping tool and/or activation of the gripping elements.

According to one embodiment, the machine is a robot cell having at least one robot arm, wherein the robot arm extends from a base end to a free end, and the mating interface is located at the free end of the robot arm.

The robot unit, i.e. the first robot unit, comprises one or more robot arms, each extending from a base end to a free end. The robotic arm may include one or more joints such that it is capable of moving in multiple axial directions. The controller is configured to control operation of the robotic arm and a gripping tool attached to the robotic arm. Thus, the robot tool may have a compact and lightweight structure.

The controller may be connected to a user interface configured to enable a worker or Artificial Intelligence (AI) to program and/or operate the robotic unit. The user interface may be a user terminal located on the robot cell. The user interface may also be a remote terminal or a computing device. The robotic cell may be programmed and operated using known techniques or AI systems.

The machine or robot unit may be equipped with one or more sensors to sense the axial movement of the tool. The sensor may be an accelerometer, gyroscope, or other suitable sensor. This allows the controller to monitor the axial movement of the robotic arm, and thus the tool, based on the signals from these sensors.

Alternatively or additionally, the gripping tool may be equipped with one or more sensors to detect the position of the gripping tool relative to the object. The sensor may be a visual sensor, a tactile sensor, an ultrasonic sensor, a proximity sensor, a force-torque sensor, or other suitable sensor. The sensors may be electrically connected to the controller through an interface. This allows the controller to correctly position the gripping tool relative to the object based on the sensor signal. The controller may selectively use a two-dimensional or three-dimensional picture of the object to properly position the gripping tool.

The controller may adjust the position of the gripping tool to align it with the center of gravity of the object. The controller may use the signal from the force-torque sensor to detect any deviation between the gripping tool and the object and/or any load exceeding a safety threshold. The controller may then reposition the gripping tool accordingly. Alternatively, the object may be gripped even if the gripping tools are not aligned. The local controller can then compensate for this deviation by adjusting the orientation of the object.

The object of the invention is also achieved by a gripping tool configured to carry an object in a process, the gripping tool configured to be arranged on a surface, the gripping tool comprising:

-a gripping tool as described above,

a local controller configured to control operation of the gripping tool, wherein the local controller is electrically connected to at least one of the remote user interface or the local user interface,

-at least one of a local energy source or a coupling element configured to be connected to an external energy source, the local energy source or the external energy source being configured to provide power to the gripping tool.

This provides a clamping tool with better clamping flexibility and stronger lifting capacity. The clamping tool of the invention can clamp objects of different sizes and shapes. The clamping means are adapted to be arranged on different surfaces for easy placement of the clamping means.

The gripping tool may include a coupling element to provide pressurized air or oil, electrical power and/or control signals to the gripping tool. This saves weight and cost, since the gripping tool can be driven by an external energy source. Alternatively, the gripping tool may comprise an internal energy source, such as a battery, a photovoltaic cell, or a combination of both. This allows the clamping means to be configured as a single unit.

The clamping tool has a local controller, e.g., disposed within the gripping tool, the local controller configured to control operation of the clamping tool, and the local controller is electrically connected to the energy source. The local controller may be a microprocessor, circuit, programmable logic circuit, or other suitable controller. The local controller may also be electrically connected to the sensors in the gripping tool mentioned above, wherein the local controller uses these sensor signals to control the operation of the gripping tool.

According to one embodiment, the clamping tool further comprises an adapter element having a bottom surface adapted to be disposed on a surface, the adapter element further having a top surface configured to be coupled or integrated to the interface of the clamping tool.

The housing of the clamping means, and optionally the first end of the clamping means, may be made of a heavy material, such as cast iron or steel, or have a larger wall thickness. Thereby, the first end forming the interface may be adapted to simply be placed on a specific surface, for example a specific surface of a table.

The first end may also be formed as a bracket configured to be mounted to a surface by a fastener, or the bracket may be secured to the surface using a clamp. The first end may optionally include a suction cup, a high friction pad, a magnet, and/or a nail. This allows the gripping tool to be placed on a low friction surface, an inclined surface or even a vertical surface.

The gripping tool may further comprise an adapter element configured to be attached to the first end of the gripping tool, or the adapter element may be integral to the first end. The adapter element may have a bottom side adapted to be brought into contact with a surface. The adapter element further has a top side adapted to be attached to the clamping tool or to form a first end of a housing of the clamping tool. The adapter element may be configured to enable the gripping tool to be correctly positioned relative to the surface.

The bottom side and the top side may be arranged in parallel or at an angle such that the gripping tool is inclined with respect to the surface. The adapter element may comprise an adjustable mechanism such that the top side may be tilted about one or more tilt axes. This allows the gripping tool to be correctly positioned relative to the surface in order to place the object in an optimal position for machining.

The clamping tool also includes a user interface configured to enable a worker to operate the clamping tool. The user interface may be a user terminal, a graphical user interface, a button, or other suitable user interface. Alternatively or additionally, the clamping means may comprise a wireless transceiver, such as an antenna, adapted to communicate wirelessly with a remote device, such as a user terminal or computing device. The computing device may be a tablet, smart phone, laptop, PDA, tablet, or other suitable computing device. The computing program or application may be configured to run on the computing device and may therefore communicate with the local controller via suitable control signals. This allows the worker to operate the gripping tool, preferably in an intuitive manner.

The object of the invention is also achieved by a change platform configured to interact with a gripping tool as described above, wherein the change platform comprises:

-a support element for supporting the support element,

-at least one holding element provided on the top face of the support element, the at least one holding element being configured to cooperate with a mating holding element on the at least one clamping element.

This increases the versatility of the gripping tool, as the gripping tool can be used with a replacement platform to reposition and/or replace the gripping element. During repositioning, the replacement platform may temporarily hold the clamping element. The replacement platform may also hold a set of gripping elements to replace the gripping elements on the gripping tool.

The support member includes a top surface having one or more holding positions to hold one or more clamping members. Each holding position may be dedicated to holding a clamping element having a particular design. Alternatively, each holding position may be used as a universal holding position to hold clamping elements having different designs. This allows the replacement platform to be adapted to be equipped with different clamping elements.

The holding position may be formed by a coupling member configured to interlock with a mating coupling member on the clamping element. The two coupling parts may form a releasable connection, preferably a quick release connector. In an example, the coupling member of the replacement platform may be a pin, e.g. a clamping pin, protruding from its top surface. This allows quick and simple removal or positioning of the clamping element without the use of tools.

According to one embodiment, the at least one retaining element is disposed in a recess of the top surface, wherein the recess is configured to receive a top end of the at least one clamping element.

The top surface may preferably comprise a single recess or a plurality of recesses, each recess being adapted to receive a tip of a clamping element. The recess may have a predetermined shape and size to match the shape and size of the tip of the clamping element. This allows the clamping element to be positioned in the replacement platform while still being locked to the arm. This also allows the arm of the gripping tool to be repositioned relative to the gripping element.

When inserting the clamping element into the recess, optionally, the bottom surface of the recess may be used to activate the releasable element of the clamping element. Thereby, the clamping element may be unlocked automatically when the clamping element is positioned in the exchange platform. This enables the gripping element to be removed from the arm without having to manually activate the releasable connection.

The retaining element may be a partial flange protruding from an inner surface of the recess, wherein the partial flange is configured to mate with the recess of the top end of the clamping element. The recess may be an elongate recess provided with a flange at one end. This enables the clamping member to be inserted at the other end and then slid along the recess until the flange mates with the recess on the clamping member. This keeps the clamping element in place on the exchange platform.

According to an embodiment, the support element is a base configured to be placed on or fixed to a reference surface, or the support element comprises an interface configured to be coupled to a mating interface of a machine as described above.

The support element may be formed as a base, for example a plate, on which the respective holding position may be located. A single holding position or a plurality of holding positions may be provided on the base. The base may be configured to facilitate access to the respective holding locations and the respective clamping elements. This allows for easy storage of the different clamping elements. This also allows the clamping element to be easily replaced or repositioned.

The base may be adapted to be fixed relative to the reference surface, for example by an integral or separate clamp or by a fastener. The base may also be glued or welded to the reference surface. Other techniques may also be used. Optionally, the base may include a set of support feet or mounting brackets to position or mount the replacement platform. In an example, the base may be provided on a machine, e.g. a robotic unit, so that an operator or a robotic arm may interact with the replacement platform. Whereby the exchange platform can be used as a stationary unit.

The base may also include an interface configured to couple to a mating interface of the machine described above or another machine, such as a free end of a robotic arm. Thereby, the replacement platform can be positioned relative to the gripping tool using the machine. In an example, the base may be coupled to an interface on a robotic arm of the second robotic unit, which may interact with a gripping tool located on a machine, e.g., the first robotic unit. Whereby the exchange platform can be used as a mobile unit.

According to one embodiment, the exchange platform is configured to hold a set of gripping elements dedicated to gripping a tool or a set of gripping elements for an object of some kind.

Preferably, the base may be configured to hold a set of gripping elements dedicated to gripping a tool. The individual clamping elements have different heights and/or different profiles. The clamping elements may be arranged on the base in a predetermined pattern so that each clamping element is easily accessible. Preferably, the distance between adjacent gripping elements in a row and/or column may be adapted such that the gripping tool can interact with the selected gripping element without the interaction being limited by other gripping elements. This increases the versatility of the replacement platform.

The base may also be configured to hold a small number of clamping elements, such as a single clamping element. Here, the "small amount" refers to a subset of the total number of clamping elements. The gripping elements may be selected according to the size and dimensions of the object to be machined. This reduces the size and weight of the replacement platform.

Alternatively, two or more replacement platforms may interact with the gripping tool described above. A first replacement platform may be dedicated to holding the set of clamping elements, while at least a second replacement platform may be dedicated to holding at least the small number of clamping elements. Alternatively, a first replacement sub-platform may be dedicated to holding a first set of gripping elements for a first type of object, while at least a second replacement sub-platform may be dedicated to holding at least a second set of gripping elements for at least a second type of object. This allows the use of a dedicated replacement platform for different types of objects. This also allows one replacement platform to be used for repositioning and another replacement platform to be used for replacing the clamping element.

The object of the invention is also achieved by a method for handling objects in a process using a system or a gripping tool as described above, the method comprising the steps of:

-placing the gripping tool in an unloaded state,

-activating a releasable connection between the arm and the first clamping element to remove the first clamping element;

-repositioning the first clamping element in a second mounting position on the arm, and/or

-positioning a second clamping element on the arm in a first mounting position or in a second mounting position;

-reconnecting the first clamping element or the second clamping element to the arm by locking the releasable connection.

This provides a method of manipulating objects in which the gripping tool is capable of gripping objects of different sizes and shapes. This increases the flexibility of the gripping tool, since no tools are required to adapt the gripping fingers to a specific object. This also improves the clamping capacity compared to conventional clamping tools, since the distance between the radial plane of the arm and the interface of the machine is reduced to a minimum, thereby reducing the bending moment.

The gripping tool is adapted to handle different objects prior to processing by activating the releasable connection to simply remove the gripping tool from the arm. The clamping element is then repositioned relative to another mounting location on the arm. Alternatively or additionally, another clamping element is positioned at the same mounting location or at another mounting location. The clamping element is coupled to the arm again by simply locking the releasable connection. This eliminates the need to reposition the arms on the puck. The adjustment can be done manually without tools.

The objects may be fed individually or in groups to a loading position relative to the machine. The gripping tool may then be moved to a position relative to the selected object. By means of the drive mechanism, the clamping element can be rotated into the open position. The clamping tool may be moved further towards the object and the clamping element may be moved into contact with the object to apply the clamping force.

The object may then be lifted out of its position and manipulated by the machine to a new position and/or orientation. The gripping tool may be moved further towards the unloading position. The gripping element may then be moved out of contact with the object and the gripping tool may be moved away from the object. This procedure can then be repeated for the next object.

Instead, the object may be moved into position relative to the clamping means. The clamping element may be rotated to the open position prior to positioning the object. The gripping element may then be rotated into contact with the object. The object may then undergo appropriate machining while it is held in place by the clamping tool. Subsequently, the gripping element may be rotated out of contact with the object and the machined object may be removed from the gripping tool.

The object may have a circular or elliptical cross-section, or a polygonal cross-section. The objects may be adapted to be gripped by gripping fingers contacting an outer surface of the object. The gripping tool may have a first gripping range when the gripping element is moved into contact with the outer surface of the object.

The gripping tool may also be configured to grip the object by rotating the gripping fingers into contact with the inner surface of the object. These objects may have a ring or circular profile. These objects may also include open spaces, such as cavities or through-holes, where the gripping fingers contact the inner surface of the space. The gripping tool may have a second gripping range when the gripping element is moved into contact with the inner surface of the object.

According to one embodiment, the method further comprises:

-said removing the first clamping element and said reconnecting the first clamping element and the second clamping element are done manually.

An operator may simply activate a releasable element in the connector to unlock the releasable connection. Alternatively, the releasable connection may be activated by applying a pulling force to the gripping fingers that is greater than the locking force. The old gripping element can then be removed from the arm. The operator can then place a new clamping element at the same mounting location on the arm or at a new mounting location on the arm. The operator may lock the releasable connection by simply terminating the releasable element that activates the clamping element. Alternatively, the releasable connection may be relocked by pushing the coupling member on the arm and the clamping element into engagement. Thus, the operator can manually replace or reposition the clamping element without the use of tools.

According to one embodiment, the method further comprises:

-activating the releasable connection by moving the arm, e.g. axially, relative to the exchange platform to place the first clamping element in a holding position on the exchange platform;

-repositioning the arm with respect to the exchange platform to align the first or second clamping element with respect to the first or second mounting position on the arm,

-reconnecting the first or second gripping element by further moving the arm, e.g. axially, relative to the replacement platform to place the first or second gripping element in the first or second mounting position on the arm.

The clamping elements may also be automatically replaced or repositioned using a replacement platform. Here, the gripping tool can be moved while the change platform remains stationary.

The robotic unit may move the robotic arm into alignment with the holding position on the exchange platform. The clamping element is then moved to the recess on the exchange platform. This may automatically activate the releasable connection. The gripping element may then be moved along the notch by the robotic arm until the flange on the notch mates with the notch on the gripping element. Thus, by moving the robot arm away from the exchange platform, the gripping element can be removed from the arm. Alternatively, the coupling component of the releasable connection may be unlocked when the mechanical arm is removed by applying a pulling force greater than the locking force.

The arm can then be repositioned relative to another clamping element on the replacement platform. A robotic arm may be used to align the mounting location on the arm with the new gripping element. The arm may then be moved toward the new clamping element until the coupling member of the clamping element and the arm engage one another. The robotic arm may then move the gripping element back along the notch such that the flange disengages the notch. The arm and the gripping element can then be moved away from the exchange platform. This may automatically lock the releasable connection. Alternatively, the coupling component of the releasable connection may be locked as the robotic arm moves the arm into engagement with the gripping element.

The replacement platform can in turn be positioned relative to the gripping tool. Here, the change platform may be coupled to a robot arm of the second robot unit. The clamping elements may be removed in a similar procedure as described above, it being envisaged that the replacement platform may be moved, while the clamping means may remain stationary.

Further, the clamping elements may be repositioned or replaced in a similar procedure as described above, it being contemplated that the replacement platform may be moved while the clamping tool may remain stationary. This provides another method of repositioning and/or replacing the clamping element.

One or more robotic units may be used to operate the gripping tool and to replace the platform. This allows for an automated process in which the gripping tool can automatically adjust its gripping elements to handle different types of objects. The operator is then free to perform other tasks, such as controlling the supply of objects to the machine or the clamping tool. Further, the operation and adjustment of the gripping tool does not require an expert and thus can be done by factory workers. This saves cost and reduces downtime.

The gripping tool may also be coupled to a tool connector to mount multiple tools, such as multiple gripping tools or a combination of gripping tools and other tools. Preferably, the tool connector may be configured such that at least two tools may be installed simultaneously, but three, four or more tools may also be installed. The tool connector may be disposed between an interface for holding a tool and an interface for a machine. The tool connector may be adapted such that the radial plane of the arm may be arranged perpendicular to the interface of the machine. Alternatively, the radial plane of the arm may be disposed at an acute angle, for example between 30-60 degrees, to the interface of the machine. This allows a plurality of gripping tools to be connected to the machine simultaneously, wherein the gripping tools can be operated simultaneously or individually.

Drawings

The invention is described by way of example only and with reference to the accompanying drawings, in which:

figure 1 shows an exemplary embodiment of a robot cell with a gripping tool,

figure 2 shows the robot unit of figure 1 with an object,

figure 3 shows a side view of the robot cell with the object,

fig. 4a-b show a first embodiment with a finger-gripping arm, the fingers being in a retracted position and in an extended position,

fig. 5a-b show a second embodiment of an arm with gripping fingers, the gripping fingers being in a retracted position and in an extended position,

fig. 6 shows a first embodiment of a releasable connection between the arm and the clamping element, the releasable connection being in a locked state,

figure 7 shows the clamping element removed from the arm,

fig. 8 shows a second embodiment of a releasable connection between the arm and the clamping element, the releasable connection being in a locked state,

figure 9 shows the clamping element removed from the arm,

fig. 10 shows an arm having a first gripping finger and a second gripping finger, the second gripping finger being shorter than the first gripping finger,

figure 11 shows a first embodiment of an elongate clamping element provided on an arm,

figures 12a-f show six alternative embodiments of the clamping element,

figures 13a-c show the positioning of the clamping elements on the exchange platform,

figures 14a-b show an alternative embodiment of an arm with an elongated hole,

figure 15 shows another alternative embodiment of an arm with an elongated hole,

fig. 16 shows a clamping tool, which has a holding tool for holding an object,

figure 17 shows a tool connector for mounting a plurality of tools,

figure 18 illustrates a method of repositioning the clamping element,

FIG. 19 shows another robot unit with a change platform coupled to a robot arm, an

Fig. 20 shows a side view of the robot cell of fig. 19.

In the following, the figures will be described one by one, and the different parts and positions seen in the figures will be numbered with the same number in the different figures. In the specific drawings, not all of the components and positions are necessarily discussed with the drawings.

List of labels

1. Robot unit

2. Clamping tool

3. Mechanical arm

4. Base seat

5. Local controller

6. Object

7. Shell body

8. First interface

9. Second interface

10. Transmission mechanism

11. Arm(s)

12. Clamping finger

12a, first holding finger

12b, second holding finger

13. Second end

14. Releasable connector

15. First coupling part

16. Second coupling part

17. Locking element

18. Flange

19. Notch (S)

20. Releasable element

21. Pin

22. Notch (S)

23. Top side

24. Elongated clamping element

25. Second end

26. First end

27. Bottom end

28. Replacement platform

29. Base seat

30. Notch (S)

31. Flange

32. Elongated hole

33. Trough

34. Clamping tool

35. Surface of

36. Adapter element

37. Tool connector

Detailed Description

Fig. 1 shows an exemplary embodiment of a robot cell 1 with a gripping tool 2, the gripping tool 2 being coupled to a robot arm 3 of the robot cell 1. Here, the robot arm 3 extends from the base 4 to a free end, which is provided with an interface 9. The robot unit 1 further comprises a local controller 5, the local controller 5 being configured to control the operation of the robot arm 3 and the gripping tool 2.

Fig. 2 and 3 show the robot unit 1 gripping an object 6 with a gripping tool 2. The gripping tool 2 comprises a housing 7, the housing 7 having a first end and an opposite second end. The first end forms a first interface 8, the first interface 8 being configured to be mounted to a mating second interface 9 of the robotic arm 3. A transmission mechanism 10 is provided in the housing 7, the transmission mechanism 10 being connected to the plurality of arms 11 by a single rotating shaft (not shown). The transmission 10 is also configured to receive power through the first interface 8 and the second interface 9.

As shown in fig. 3, the arms 11 form a radial plane in which each arm rotates about an axis of rotation defined by its axis of rotation. The radial plane is perpendicular to a longitudinal axis of the holding tool 2 (indicated by "a" in fig. 5 a) extending through the first and second ends. Which is arranged at a minimum distance from another radial plane defined by the first interface 8 and the second interface 9.

Fig. 4a-b show a first configuration of the arms 11, each arm 11 being equipped with a clamping element 12 arranged in an intermediate position on the arm 11. Here, the clamping element 12 is formed as a finger. Fig. 4a shows the arm 11 and the gripping element 12 rotated to the extended position, while fig. 4b shows the arm 11 and the gripping element 12 rotated to the retracted position.

The arm 11 and the clamping element 12 rotate relative to the second end 13 of the inner housing 7 in the radial plane. Each arm 11 comprises a body extending from a first end to a second end, and each arm 11 has a top side, a bottom side, a first side and a second side. In fig. 4a, the clamping element 12 is rotated to an extended position, which represents a local maximum clamping position. In fig. 4b, the clamping element 12 is rotated to the retracted position. This position represents the minimum gripping position of the gripping tool 2.

Fig. 5a-b show a second configuration of the arms 11, each arm 11 being provided with a clamping element 12' arranged at the outermost position on the arm 11. Fig. 5a shows the arm 11 and the gripping element 12 'rotated to the extended position, while fig. 5b shows the arm 11 and the gripping element 12' rotated to the retracted position.

The arm 11 and the clamping element 12' are rotated relative to the second end 13 of the inner housing 7 in the radial plane. In fig. 5a, the clamping element 12' is rotated to an extended position, which represents the maximum clamping position of the clamping tool 2. In fig. 5b, the clamping element 12' is rotated to the retracted position. This position represents the local minimum clamping position.

Fig. 6 shows a first embodiment of a releasable connection between the arm 11 and the clamping element 12 in the form of a quick release connector. The releasable connection 14 comprises a first coupling part 15 arranged on the arm 11 and a second coupling part 16 arranged on the clamping element 12. Here, the quick release connector is formed by a hole in the arm 11, while the second coupling part 16 is formed by a pin which protrudes from the bottom end of the clamping element 12.

The second coupling part 16 comprises at least one locking element 17, the locking element 17 being configured to interlock the first coupling part 15 and the second coupling part 16 with each other. Here, the locking element 17 is a ball. The locking element 17 is configured to cooperate with an inner flange 18, the inner flange 18 protruding from the inner surface of the hole. This locks the first coupling part 15 and the second coupling part 16, thereby locking the clamping element 12 to the arm 11.

The top end of the clamping element 12 is formed with a recess 19, the recess 19 being configured to cooperate with a flange on a replacement platform (shown in fig. 8).

The clamping element 12 further includes a releasable element 20 disposed in the interior chamber of the clamping element 12. A releasable member 20 is movably disposed within the chamber and is in contact with the locking member 17.

Fig. 7 shows the clamping element 12 removed from the arm 11. By activating the releasable element 20, the first coupling part 15, the second coupling part 16 of fig. 6 are unlocked, which in turn causes the locking element 17 to retract into the pin. The clamping element 12 can be removed by simply removing the clamping element 12 from the hole and away from the arm 11.

Fig. 8 shows a second embodiment of a releasable connection 14' between the arm 11' and the clamping element 12' in the form of another quick release connector. Here, the first coupling part 15 is formed by a pin 21, which pin 21 protrudes from the top side of the arm 11'.

The second coupling part 16 'is formed by a cavity in the bottom end of the clamping element 12'. The locking element 17' is arranged on the side surface of the cavity and extends into a matching recess 22 on the side surface of the pin 21.

Fig. 9 shows the clamping element 12 'removed from the arm 11'. By activating the releasable element 20', the first coupling member 15' and the second coupling member 16' of fig. 8 are unlocked, which in turn causes the locking element 17' to retract into the side wall of the clamping element 12'. The clamping member 12 'can be removed by simply moving the clamping member 12' away from the pin 21.

Fig. 10 shows an arm 11 with a first clamping finger 12a, the first clamping finger 12a being arranged at the second end. Further, the second clamping finger 12b is disposed at the intermediate position. A first clamping finger 12a and a second clamping finger 12b are releasably connected to the arm 11.

The arm 11 has a thickness measured between the bottom side and the top side 23. The first gripping finger 12a has a first height measured from the top side 23 to the end face of the gripping finger 12 a. Second gripping finger 12b has a second height measured from top side 23 to the end surface of gripping finger 12 b. Here, the first height is greater than the second height.

Fig. 11 shows a first embodiment of an elongated clamping element 24 provided on the arm 11. Here, the elongated clamping element 24 is releasably connected to the arm 11 by two releasable connections 14 as described above.

An elongated clamping element 24 extends along the top side 23 of the arm 11 from a partial first end 26 to a partial second end 25. The elongated clamping element 24 has a height measured from the top side 23 to the local top side. Here, the elongated clamping element 24 has a stepped profile which gradually becomes lower from the local second end 25 to the local first end 26.

Fig. 12a-f show six alternative embodiments of the clamping element 12. Here, the clamping element 12 is formed as a finger, wherein the bottom end 27 of the clamping element 12 is adapted to form a first coupling member.

In fig. 12a, the clamping element 12 has a circular cross-sectional profile. In fig. 12b, the clamping element 12 has a circular cross-sectional profile with flat sub-surfaces for contacting adjacent clamping elements 12 when rotated to the retracted position. In fig. 12c, the clamping element 12 has a protruding part instead of a flat sub-surface. Here, the shape of the protruding portion is triangular, but other shapes may be used.

In fig. 12c, the clamping element 12 has a square or rectangular cross-sectional profile. In fig. 12d, the clamping element 12 has a triangular cross-sectional profile. Finally, in fig. 12e, the clamping element 12 has a polygonal cross-sectional profile.

Although the clamping element 12 in fig. 12a-e has a constant profile along the height, the profile of the clamping element 12 may also vary along the height. In an example, the clamping element 12 may have a tapered or tapering profile in the height direction.

Fig. 13a-c show a first embodiment of the change platform 28, the change platform 28 being configured to interact with the gripping tool 1. The exchange platform 28 comprises a single holding position for holding the clamping element 12.

The exchange platform 28 comprises a support element 29 in the form of a base. A single recess 30 is provided in the base 29, wherein the recess 30 forms the mounting position. The recess 30 is formed as an elongated recess, the recess 30 comprising a flange 31 at one end. The flange 31 is configured to mate with the recess 19 on the clamping member 12.

As shown in fig. 13b, the tip of the clamping element 12 is positioned relative to the recess 30. The tip is then moved into the recess 30. Thereby, the releasable element 20 comes into contact with the bottom surface of the recess 30, which automatically unlocks the first coupling part 15 and the second coupling part 16.

The clamping member 12 is moved, e.g., slid, along the length of the recess 30 until the flange 31 engages the recess 19 on the clamping member 12.

The arm 11 is then removed from the clamping element 12 and the arm 11 may be repositioned relative to another clamping element (not shown).

Fig. 14 shows an alternative embodiment of the arm 11 "with an elongated hole 32, the elongated hole 32 being formed in the body of the arm 11". The elongated aperture 32 defines a plurality of mounting locations to selectively position the clamping element 12 along the length of the arm 11 ".

The clamping element 12 can be selectively mounted at any location along the length of the elongated aperture 32. The clamping element 12 is secured in a selected position by a locking force.

Fig. 15 shows an alternative embodiment of the elongated hole 32' on the arm 11 ". Here, the elongated hole 32' comprises a plurality of slots 33, each slot defining a selectable position for the clamping element 12. Here, the clamping element 12 is fixed in place by a sleeve joint.

Fig. 16 shows a clamping tool 34 with a gripping tool 2, the gripping tool 2 holding an object 6, wherein the clamping tool 34 is arranged on a surface 35. The clamping tool 34 comprises an adaptor element 36, the adaptor element 36 being configured to be placed on the surface 35 and coupled to a first end of the gripping tool 2.

The gripping tool 34 has an internal energy source to power the gripping tool 2 and a user interface (not shown). The user interface is electrically connected to a local controller provided within the gripping tool 34. The local controller controls the operation of the gripping tool 2.

Fig. 17 shows a tool connector 37 for mounting a plurality of tools, preferably a plurality of gripping tools 1. The tool connector 37 is configured to be mounted to a machine, preferably to a robot arm 3 of a robot unit.

Fig. 18a-f illustrate a method of repositioning the clamping element 12 on the arm 11 using the replacement platform 28. As shown in fig. 18a, the arm 11 is aligned with a selected holding position on the exchange platform 28. As shown in fig. 18b, the gripping element 12 is moved into the recess 30, thereby activating the releasable element 20. As shown in fig. 13c, the clamping element 12 is slid into engagement with the flange 31 in the recess 30.

The arm 11 is then moved away from the gripping element 12 and repositioned relative to the exchange platform 28, as shown in figures c-d. The arm 11 is then moved into engagement with the gripping element 12 as shown in figure 18 e. The arm 11 and the gripping element 12 are then moved out of engagement with the flange 31. Finally, the arm 11 and the gripping element 12 are moved away from the exchange platform 28.

Fig. 19-20 show another robot unit 1 'with a robot arm, wherein a change platform 28' is coupled to the interface on the free end. The exchange platform 28' comprises a plurality of holding positions for the individual clamping elements 12.

Claims

1. A gripping tool (2) for handling an object (6) in a process, said gripping tool (2) comprising

-a housing (7) defining a longitudinal axis of the gripping tool (2),

-a drive mechanism arranged within the housing (7),

an interface (8) arranged at one end of the housing (7), said interface (8) being configured to be coupled to a matching interface (9) of a machine or arranged on a surface,

-a plurality of arms (11) arranged at the other end of the housing (7), each arm (11) comprising at least a first gripping element (12), the first gripping elements (12) being configured to contact the object (6), each arm (11) being configured to rotate around an axis of rotation and to be in or out of contact with the object (6) in a radial plane perpendicular to the longitudinal axis when activated by the drive mechanism, wherein each arm (11) comprises a body extending from a first end to a second end, and each arm (11) has a top side, a bottom side, a first side and a second side,

-wherein each arm (11) comprises a mounting location for at least one clamping element (12) arranged at the top side, characterized in that the at least one clamping element (12) is releasably connected to the arm (11) by means of a quick-release connector (14).

2. The gripping tool (2) according to claim 1, characterized in that each arm (11) comprises a plurality of mounting locations to selectively position at least one gripping element (12) along the length of the arm (11).

3. The clamping tool (2) according to claim 1 or 2, characterized in that the quick release connector (14) comprises a first coupling part (15) provided on the arm (11) and a second coupling part (16) provided on the at least one clamping element (12), wherein one of the first coupling part (15) and the second coupling part (16) comprises at least one locking element (17), the locking element (17) being configured to interlock the first coupling part (15) and the second coupling part (16) with respect to each other.

4. The clamping tool (2) according to claim 3, wherein the quick release connector (14) further comprises a releasable element (20), the releasable element (20) being configured to contact the at least one locking element (17), wherein the releasable element (20) is configured to move the at least one clamping element (12) to the locked or unlocked position upon activation.

5. The clamping tool (2) according to any one of claims 1 to 4, characterized in that at least one clamping element (12) comprises a recess (19) provided on an inner surface, wherein the recess (19) is configured to cooperate with a mating flange (31) on a replacement platform (28).

6. Gripping tool (2) according to one of the claims 1 to 5, characterized in that at least the first gripping element (12) is formed as an elongated gripping element (24) or finger extending along at least a part of the length of the arm (11).

7. The clamping tool (2) according to any one of claims 1 to 6, characterized in that at least the first clamping element (12) is configured to operate over the entire clamping range of the clamping tool (2) while keeping each arm (11) in the same radial position with respect to the respective axis of rotation.

8. A system configured to carry an object (6) in a process, comprising:

a machine configured to process an object (6),

-the machine comprises at least one interface (9), the interface (9) being configured to be coupled to at least one tool, the at least one tool being a gripping tool (2) according to any one of claims 1 to 7,

-the machine further comprises an energy source for providing power to the gripping tool (2), and a controller (5), the controller (5) being configured to control at least the operation of the gripping tool (2).

9. System according to claim 8, characterized in that the machine is a robot unit (1) having at least one robot arm (3), wherein the robot arm (3) extends from a base end (4) to a free end, and the matching interface (9) is located at the free end of the robot arm (3).

10. A gripping tool (34) configured to carry an object (6) in a process, the gripping tool (34) configured to be disposed on a surface (35), the gripping tool (34) comprising:

-the gripping tool (2) according to any one of claims 1 to 7,

-a local controller configured to control operation of the gripping tool (2), wherein the local controller is electrically connected to at least one of a remote user interface or a local user interface,

-at least one of a local energy source or a coupling element configured to be connected to an external energy source, the local energy source or the external energy source being configured to provide power to the gripping tool (34).

11. The clamping tool (34) according to claim 10, wherein the clamping tool (34) further comprises an adaptor element (36), said adaptor element (36) having a bottom surface, said bottom surface being adapted to be disposed on a surface, said adaptor element (36) further having a top surface configured to be coupled or integrated to the interface (8) of the gripping tool (2).

12. A replacement platform (28) configured to interact with a gripping tool (2) according to any of claims 1 to 7, wherein the replacement platform (28) comprises:

-a support element (29),

-at least one holding element arranged on the top face of the support element (29), said at least one holding element being configured to cooperate with a matching holding element on the at least one clamping element (12).

13. The change platform according to claim 12, characterized in that the at least one holding element is arranged in a recess in the top surface, wherein the recess is configured to receive a top end of the at least one clamping element (12).

14. The replacement platform according to claim 12 or 13, wherein the support element (29) is a base configured to be placed on or fixed to a reference surface, or wherein the support element (29) comprises an interface configured to be coupled to a mating interface (8) of a machine according to claim 8 or 9.

15. A method of handling an object (6) in a process using a system according to claim 8 or 9 or a gripping tool (2) according to claim 10 or 11, the method comprising the steps of:

-placing the gripping tool (20) in an unloaded state;

-activating a releasable connection (14) between the arm (11) and the first clamping element (12) to remove the first clamping element (12);

-repositioning the first clamping element (12) in a second mounting position on the arm (11), and/or

-positioning a second clamping element (12) on the arm (11) in a first mounting position or in a second mounting position;

-reconnecting the first clamping element (12) or the second clamping element (12) to the arm (11) by locking the releasable connection (14).

16. The method of claim 15, further comprising:

-said removing of the first clamping element (12) and said re-connecting of the first clamping element (12) and the second clamping element (12) is done manually.

17. The method of claim 15, further comprising:

-activating the releasable connection (14) by moving the arm (11), e.g. axially, relative to the change platform (28) to place the first clamping element (12) in a holding position on the change platform (28);

-repositioning the arm (11) with respect to the exchange platform (28) to align the first clamping element (12) or the second clamping element (12) with respect to the first mounting position or the second mounting position on the arm (11),

-reconnecting the first clamping element (12) or the second clamping element (12) by further moving, e.g. axially moving, the arm (11) relative to the exchange platform (28) to place the first clamping element (12) or the second clamping element (12) in the first mounting position or the second mounting position on the arm (11).